相关论文: Inverting the Pose Forecasting Pipeline with SPF2:…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Modern warehouse automation systems rely on fleets of intelligent robots that generate vast amounts of data -- most of which remains unannotated. This paper develops a self-supervised domain adaptation pipeline that leverages real-world,…

Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e.g. the 3D rotation and translation) in a cluttered environment from a single RGB image is a challenging problem. While end-to-end methods have recently demonstrated…

SSF3D modified the semi-supervised 3D object detection (SS3DOD) framework, which designed specifically for point cloud data. Leveraging the characteristics of non-coincidence and weak correlation of target objects in point cloud, we adopt a…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

Recent advances in deep learning and computer vision offer an excellent opportunity to investigate high-level visual analysis tasks such as human localization and human pose estimation. Although the performance of human localization and…

Semi-supervised object detection (SSOD), leveraging unlabeled data to boost object detectors, has become a hot topic recently. However, existing SSOD approaches mainly focus on horizontal objects, leaving oriented objects common in aerial…

A major bottleneck of pedestrian detection lies on the sharp performance deterioration in the presence of small-size pedestrians that are relatively far from the camera. Motivated by the observation that pedestrians of disparate spatial…

3D object detection from raw and sparse point clouds has been far less treated to date, compared with its 2D counterpart. In this paper, we propose a novel framework called FVNet for 3D front-view proposal generation and object detection…

Semi-supervised learning aims to boost the accuracy of a model by exploring unlabeled images. The state-of-the-art methods are consistency-based which learn about unlabeled images by encouraging the model to give consistent predictions for…

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, current approaches…

Object recognition in 3D point clouds is a challenging task, mainly when time is an important factor to deal with, such as in industrial applications. Local descriptors are an amenable choice whenever the 6 DoF pose of recognized objects…

Camera pose estimation in large-scale environments is still an open question and, despite recent promising results, it may still fail in some situations. The research so far has focused on improving subcomponents of estimation pipelines, to…

With increasingly more computation being shifted to the edge of the network, monitoring of critical infrastructures, such as intermediate processing nodes in autonomous driving, is further complicated due to the typically…

For object detection, it is possible to view the prediction of bounding boxes as a reverse diffusion process. Using a diffusion model, the random bounding boxes are iteratively refined in a denoising step, conditioned on the image. We…

In this paper, we propose a novel encoder-decoder architecture, named SABER, to learn the 6D pose of the object in the embedding space by learning shape representation at a given pose. This model enables us to learn pose by performing shape…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

Unsupervised point cloud shape correspondence aims to obtain dense point-to-point correspondences between point clouds without manually annotated pairs. However, humans and some animals have bilateral symmetry and various orientations,…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

To enable meaningful robotic manipulation of objects in the real-world, 6D pose estimation is one of the critical aspects. Most existing approaches have difficulties to extend predictions to scenarios where novel object instances are…